Ultrasound imaging system and method for image guidance procedure

ABSTRACT

The present invention relates to an ultrasound imaging system ( 10 ) comprising an ultrasound probe ( 20 ) having a transducer array ( 21 ) configured to provide an ultrasound receive signal. The system further comprises a B-mode volume processing unit ( 30 ) configured to generate a B-mode volume ( 31 ) based on the ultrasound receive signal, and a B-mode image processing unit ( 40 ) configured to provide a current B-mode image ( 41 ) based on the B-mode volume ( 31 ). The system further comprises a memory ( 50 ) configured to store a previously acquired 3D-vessel map ( 51 ). Also, the system comprises a registration unit ( 60 ) configured to register the previously acquired 3D-vessel map ( 51 ) to the B-mode volume ( 31 ) and to select a portion ( 61 ) of the 3D-vessel map corresponding to the current B-mode image ( 41 ). Further, the system comprises a display configured to display an ultrasound image ( 71 ) based on the current B-mode image ( 41 ) and the selected portion ( 61 ) of the 3D-vessel map ( 51 ). The present invention further relates to a method for providing such ultrasound image with vessel information and a corresponding computer program.

CROSS-REFERENCE TO PRIOR APPLICATIONS

This application claims the benefit or priority of and describesrelationships between the following applications: wherein thisapplication is a continuation of U.S. patent application Ser. No.14/403,288, filed Nov. 24, 2014, which is the National Stage ofInternational Application No. PCT/IB2013/054405, filed May 28, 2013,which claims the priority of U.S. provisional application 61/653,506filed May 31, 2012, all of which are incorporated herein in whole byreference.

FIELD OF THE INVENTION

The present invention relates to an ultrasound imaging system and amethod for providing an ultrasound image with vessel information, inparticular for use in an image guidance procedure. The present inventionfurther relates to a computer program for implementing such method.

BACKGROUND OF THE INVENTION

In three-dimensional (3D) ultrasound imaging, also called volumeimaging, the acquisition of a 3D-image is accomplished by conductingmany two-dimensional (2D) scans that slice the volume of interest in ananatomical region. Hence, a multitude of 2D-images is acquired that lieone next to one another. This multitude of 2D-images together forms a3D-volume of data. By proper image processing, a 3D-image of the volumeof interest can be built out of the 3D-volume of data. The 3D-image canthen be displayed in a proper form on a display for the user of theultrasound imaging system.

Ultrasound imaging is commonly used to image the insertion, use oroperation of an invasive medical device or instrument within the body.For example, fine needle aspiration (FNA), core biopsy, radio frequencyablation (RFA), percutaneous ethanol injection (PEI) are all proceduresthat require insertion of an invasive medical device into the patient.Such a procedure using ultrasound imaging is commonly referred to asultrasound image guidance procedure. When performing such image guidanceprocedure, the doctor must be able to visualize the target (e.g. acarcinoma to be ablated in RFA) in the anatomical region, the invasivemedical device (e.g. needle) approaching the target, and any vesselssurrounding the target, in particular blood vessels (also calledvasculature). Imaging of the vessels is key for ensuring that no majorvessel is punctured during the insertion and guidance of the invasivemedical device. Therefore, the doctor or clinician commonly relies onusing ultrasound image guidance to insert an invasive medical device,such as a biopsy needle or an ablation probe, into a patient, for bothdiagnosis and treatment. Ultrasound image guidance is important becauseit helps the doctor or clinician to visualize and hence plan the path ofthe invasive medical device from the skin to the target (e.g. targetlesion), while avoiding blood vessels along the way.

Most of the ultrasound image guidance is done under 2D B-modeultrasound. This is primarily because frame rates are high in 2D B-modeultrasound. B-mode generally refers to a mode of operation in which thedisplay shows a grayscale image representing the 2-dimensionaldistribution of ultrasound backscatter amplitude from one plane or sliceof the target, which is formed by detecting the returning echoes foreach of a series of acquisition lines across the image plane (typicallyone transmit pulse per line). It is quite critical to reduce any timelag between what is shown on the display and what is actually happeningwith the invasive medical device (e.g. needle) in the patient's body. Aslow frame rate and accordingly a delayed ultrasound image feedback mayresult in the invasive medical device (e.g. needle) missing in theintended anatomical region. This can limit the use of any flow imagingtechniques, which require the acquisition of many pulse-echo events perimaging line, such as for example color flow imaging or also calledcolor Doppler imaging, during an ultrasound image guiding procedure. Onthe other hand, flow imaging provides a far better delineation of thevessel boundaries than the B-mode alone. In particular, 3D-flow imagingwould be a good method for ensuring that vessels do not lie in the pathof the invasive medical device (e.g. needle) since in 2D-imaging only asingle plane is seen and it is typically difficult to keep the invasivemedical device in the plane of the image at all times. However, framerates in 3D-imaging, and especially 3D-flow imaging, are usually evenmore compromised than in the 2D-imaging.

US 2011/0263985 A1 discloses an ultrasound imaging system for creatingsimultaneous needle and vascular blood flow color Doppler imaging. AB-mode image of an anatomical area of interest is created. A first setof Doppler image data optimized for the visualization of vascular bloodflow is created along one Doppler image processing path. A second set ofDoppler image data optimized for the visualization of a needle or otherinvasive device is created among another, parallel Doppler imageprocessing path. The color Doppler image is created, and then displayed,by combing some or all of the B-mode images, the first Doppler imagedata and the second Doppler image data based on a plurality of userselectable modes.

Such ultrasound imaging system uses B-mode ultrasound imaging and colorDoppler imaging simultaneously. This reduces the frame rate. Therefore,there is a need for increasing or providing a sufficient frame rate inultrasound image guidance procedures.

SUMMARY OF THE INVENTION

It is an object of the present invention to provide an improvedultrasound imaging system, in particular with increased or sufficientframe rate. It is a further object of the present invention to providean improved method for providing an ultrasound image with vesselinformation, in particular at an increased or sufficient frame rate, anda corresponding computer program for implementing such method.

In a first aspect of the present invention, an ultrasound imaging systemis presented that comprises an ultrasound probe having a transducerarray configured to provide an ultrasound receive signal, a B-modevolume processing unit configured to generate a B-mode volume based onthe ultrasound receive signal, a B-mode image processing unit configuredto provide a current B-mode image based on the B-mode volume, a memoryconfigured to store a previously acquired 3D-vessel map, a registrationunit configured to register the previously acquired 3D-vessel map to theB-mode volume and to select a portion of the 3D-vessel map correspondingto the current B-mode image, and a display configured to display anultrasound image based on the current B-mode image and the selectedportion of the 3D-vessel map.

In a further aspect of the present invention, a method for providing anultrasound image with vessel information is presented, the methodcomprising: receiving an ultrasound receive signal provided by anultrasound probe having a transducer array, generating a B-mode volumebased on the ultrasound receive signal, providing a current B-mode imagebased on the B-mode volume, registering a previously acquired 3D-vesselmap stored in a memory to the B-mode volume, selecting a portion of the3D-vessel map corresponding to the current B-mode image, and providingthe ultrasound image based on the current B-mode image and the selectedportion of the 3D-vessel map.

In a further aspect of the present invention, a computer program ispresented comprising program code means for causing a computer to carryout the steps of such method when said computer program is carried outon the computer.

It can be assumed that B-mode volumes, or also called 3D B-mode, hasacceptable frame rates (or volume rate), but simultaneous 3D B-mode and3D color flow imaging does not. This invention can provide a way to havethe benefits of both 3D B-mode and 3D color flow at the 3D B-mode framerates.

The basic idea of the invention is to acquire or create a 3D-vessel mapat the beginning or before an ultrasound image guidance procedure.Thereafter, this 3D-vessel map is registered to the B-mode volume.Preferably, the 3D-vessel map is updated as the ultrasound imageguidance procedure takes place. In particular, a 3D vessel map isacquired and stored in a memory in a first step. Since the 3D-vessel mapis acquired at the beginning of the ultrasound image guidance procedure,prior to actually inserting the invasive medical device (e.g. needle),into the patient, time can be taken to acquire the highest possiblequality 3D-vessel map. During the ultrasound image guidance procedure,the 3D-vessel map is registered, and preferably tracked (i.e.continuously updating the registration), with the current or live B-modeimage (e.g. 2D- or 3D-image). The frame rates during the acquisition ofthe 3D-vessel map may be slow, but since the 3D-vessel map is acquiredat the beginning or before of an ultrasound image guidance procedure,the frame rate during the ultrasound image guidance procedure itself,using B-mode imaging, is not affected. Thus, since the current or liveacquisition of ultrasound images only involves B-mode, high or real-timeframe rates can be achieved. Also, the doctor or user is still able tosee the vessel information (e.g. vessel outlines) overlaid on the B-modeimage which helps to avoid the vessels during the image guidanceprocedure. Therefore, the present invention allows for fast frame rates,in particular needed for image guidance procedures using an invasivemedical device (e.g. needle), and yet allows a 3D-vessel map or itscorresponding vessel information to be used to highlight regions toavoid in the ultrasound image.

Preferred embodiments of the invention are defined in the dependentclaims. It shall be understood that the claimed method or computerprogram have similar and/or identical embodiments as the claimedultrasound imaging system and as defined in the dependent claims.

In one embodiment, the current B-mode image is a 2D-image, an image oforthogonal 2D-image planes or a 3D-image. Even though a B-mode volume,thus 3D data, is generated the actual presentation or displaying of dataon a display may be different. For example, the system may only displaya 2D-image or slice out of that volume in any suitable way (e.g. regular2D-image or orthogonal 2D-image planes). When the current B-mode image(to be displayed) is a 2D image or a 3D-image of orthogonal 2D-imageplanes (e.g. Multi-Planar Reformatted (MPR)), an easier presentation ofthe ultrasound image is provided compared to a 3D representation.Alternatively, the current B-mode image (to be displayed) can of coursealso be a 3D-image, which provides the most information to the user andthus increases performance of the system.

In another embodiment, the portion is a 2D-slice of the 3D-vessel map.This embodiment is in particular used when the current B-mode image is a2D-image, or an image of orthogonal 2D-image planes. If the B-modevolume is sliced to get a 2D-slice or 2D-image to be displayed, also the3D-vessel map can be sliced in the same way.

In an alternative embodiment, the portion is a 3-D portion of the3D-vessel map. This embodiment is in particular used when the currentB-mode image is a 3D-image. If a 3D-image is to be displayed, also the3D-vessel map can be superimposed in the same way. For example, the 3DB-mode image can be semi-transparent to allow the 3D-vessel map (e.g. incolor) to be visible.

In a further embodiment, the ultrasound imaging system comprises animage processing unit configured to overlay the current B-mode image andthe selected portion of the 3D-vessel map to provide the ultrasoundimage. In this way an ultrasound image with overlaid vessel informationis generated and displayed. Thus the vessel information or portion ofthe 3D-vessel map is directly overlaid onto or incorporated into theultrasound image. This improves legibility of the information for theuser of the system (e.g. doctor or clinician), during an image guidanceprocedure for example. In this way a very intuitive (or most intuitive)display is provided. The corresponding method comprises the further stepof overlaying the current B-mode image and the selected portion of the3D-vessel map to provide the ultrasound image.

In an alternative embodiment, the ultrasound imaging system comprises animage processing unit configured to add the current B-mode image and theselected portion of the 3D-vessel map next to each other to provide theultrasound image with vessel information. In this way, the ultrasoundimage is provided by having the current (or live) B-mode image and theselected portion of the 3D-vessel map in a side by side format orrepresentation. For example, the current (or live) B-mode image ispresented as a first image portion on the right side of the display andthe selected portion is presented in a second image portion on the leftside of the display. The selected portion or vessel information can forexample be in a previously acquired registered image (e.g. color image).For example, the selected portion can be presented or contained in CTdata or MR data, or in an ultrasound image.

In another embodiment, the ultrasound imaging system comprises a 3D flowprocessing unit configured to generate 3D flow data based on theultrasound receive signal, and a flow image processing unit configuredto generate the 3D vessel map based on the 3D flow data. In this casethe vessels or vasculature in the anatomical region are identified usinga 3D flow imaging technique. This is a particularly reliable and/orhigh-quality ensuring way of identifying the vessels and providing a3D-vessel map. 3D flow imaging can provide a high quality 3D color flowimage or 3D vessel map. The frame rates may be slow, but since the 3Dflow imaging is performed at the beginning or before of an ultrasoundimage guidance procedure, the frame rate during the ultrasound imageguidance procedure is not effected. The 3D flow data can also be calleda flow volume. For example, 3D flow data or flow volume can be generatedin that the transducer array transmits multiple ultrasound pulses foreach line (to estimate the flow at that line or location), and then theacquisition of these lines is swept across the volume. The number ofultrasound pulses may be increased. This increases the sensitivity, butalso reduces the frame rates. The corresponding method comprises thefurther steps of generating 3D flow data based on the ultrasound receivesignal, and generating the 3D vessel map based on the 3D flow data.

In a variant of this embodiment, the 3D flow data is generated using acolor flow technique, a Color Power Angio (CPA) technique, a B-mode flowimaging technique or a Contrast Enhanced Ultrasound technique. These areparticularly suitable ways of providing a flow image. In the case ofCPA, the generated flow image indicates only the magnitude of the flow,and not directionality of the flow. Thus, this technique is aparticularly easy way of providing a flow image, while still providingsufficient information about the vessels. In the case of B-mode flowimaging (also called B-flow), the flow image is generated using a B-modepulse subtraction technique. This technique provides flow imaging at ahigher frame rate than a traditional color flow technique. A ContrastEnhanced Ultrasound technique is a particularly suitable way to improvethe visualization of the vessels, especially in technically challengingcases.

In another variant of this embodiment, the ultrasound imaging systemcomprises a controller configured to select either the B-mode volumeprocessing unit to generate the B-mode volume or the 3D flow processingunit to generate the 3D flow data. In this way it can be easilyimplemented to first acquire a 3D-vessel map before or at the beginningof an image guidance procedure, and to the subsequently use B-modeimaging during the image guidance procedure. For example, the controllercan be configured to select the 3D flow processing unit when receiving afirst input from a user control (e.g. when a user hits a “Start” button)and to select the B-mode volume processing unit when receiving a secondinput from the user control (e.g. when the user hits an “Accept”button). For example, when the controller selects the 3D flow processingunit, 3D flow data can be generated in that the transducer arraytransmits multiple ultrasound pulses for each line, and then theacquisition of these lines is swept across the volume. For example, whenthe controller selects the B-mode volume processing unit, a B-modevolume can be generated in that the transducer array transmits a singlepulse for each line, and then the acquisition of these lines is sweptacross the volume. The corresponding method comprises the further stepof selecting either the B-mode volume processing unit to generate theB-mode volume or the 3D flow processing unit to generate the 3D flowdata.

In another embodiment, the ultrasound imaging system comprises a vesselsegmentation unit configured to create the 3D-vessel map by performing avessel segmentation technique. In this case the vessels or vasculaturein the anatomical region are identified using a vessel segmentationtechnique. This is a particularly easy and/or reliable way ofidentifying the vessels and providing a 3D-vessel map. It eliminates theneed to perform flow imaging, which may be challenging in some clinicalsituations or patients. In the corresponding method the step of creatingthe 3D-vessel map comprises performing a vessel segmentation technique.

In a variant of this embodiment, the vessel segmentation unit isconfigured to perform the vessel segmentation technique based on theB-mode volume. In this case the 3D-vessel map is created based on 3Dultrasound data, namely the B-mode volume data that the system needs toacquire anyway. This provides for a particular easy way of creating the3D-vessel map without the use of any other system or data. The B-modevolume can for example be conventional 3D ultrasound data or contrastenhanced 3D ultrasound data. In the corresponding method the vesselsegmentation technique is performed based on the B-mode volume.

In another variant of this embodiment, the vessel segmentation unit isconfigured to perform the vessel segmentation technique based on CT dataor MR data. In this case the 3D-vessel map is created based on CT or MRdata, in particular received from a separate CT or MR system. Thisprovides for a particular reliable way of creating the 3D-vessel map asthe CT or MR data can be easier to segment than ultrasound data,especially when a CT or MR contrast agent is used. The CT data can forexample be conventional CT data, cone beam CT data, or CT angiographydata. The MR data can for example be conventional MR data or MRAngiography data. The CT or MR data may be acquired with or without acontrast agent. In the corresponding method the vessel segmentationtechnique is performed based on based on CT data or MR data.

In yet another embodiment, the registration unit is configured toreceive ultrasound transducer position tracking information forselecting the portion of the 3D-vessel map corresponding to the currentB-mode image. The ultrasound transducer position tracking informationindicates and/or tracks the position of the ultrasound probe having thetransducer array, or also called ultrasound transducer. In this way theregistration can be continuously updated, which increases reliabilityand usability of the system. In particular, as the ultrasound probe ortransducer is moved when scanning the patient, the doctor can see andtrack in real-time the invasive medical device and the vessels inrelation thereto. The corresponding method comprises the further step ofreceiving ultrasound transducer position tracking information, andwherein the selection step comprises selecting the portion using theultrasound transducer position tracking information.

In a variant of this embodiment, the ultrasound imaging system furthercomprises a processing unit configured to generate the ultrasoundtransducer position tracking information based on temporally consecutiveB-mode volumes. In particular, the ultrasound transducer positiontracking information can be translation and/or rotation information. Inthis case the ultrasound transducer position tracking information isprovided based on 3D ultrasound data, namely the B-mode volume data thatthe system needs to acquire anyway. This provides for a particular easyway of generating ultrasound transducer position tracking informationwithout the use of any other device or devices. This use of temporallyconsecutive B-mode volumes to generate the ultrasound transducerposition tracking information is also called image-based tracking. Whenhaving 3D ultrasound volumes consecutive in time, the translation orrotation of features in these B-mode volumes can be tracked and basedthereon a translation vector or rotation vector can be extracted. Thus,the processing unit can be configured to perform feature tracking on thetemporally consecutive B-mode volumes and to generate a translation orrotation vector based on the feature tracking. This translation orrotation vector can then be used for selecting the appropriate portionof the 3D-vessel map. The term temporally consecutive can refer toB-mode volumes being acquired directly following each other or can referto B-mode volumes being acquired not directly following each other, thusbeing spaced apart in time (e.g. only every other or every thirdvolume). The corresponding method comprises the further step ofgenerating the ultrasound transducer position tracking information basedon temporally consecutive B-mode volumes.

In a further variant of this embodiment, the ultrasound imaging systemfurther comprises a position sensor which is positioned in fixed knownposition with respect to the transducer array. The ultrasound transducerposition tracking information is position information received from theposition sensor. This provides for a particular easy way of generatingultrasound transducer position tracking information which does notrequire any additional signal processing. In particular, the positioninformation can be orientation and/or positional change of theultrasound probe and thus the transducer array. The position sensor canfor example be arranged in fixed known position with respect to theultrasound probe having the transducer array, for example arranged on orattached to the housing on the probe. For example, the position sensorcan be an electromagnetic (EM) tracking sensor or a fiber optic trackingsensor, or any other sensor that provides tracking information about thetransducer position. The corresponding method comprises the further stepof receiving the ultrasound transducer position tracking informationfrom a position sensor which is positioned in fixed known position withrespect to the transducer array.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other aspects of the invention will be apparent from andelucidated with reference to the embodiment(s) described hereinafter. Inthe following drawings

FIG. 1 shows a perspective view of an ultrasound imaging systemaccording to an example;

FIG. 2 shows a schematic diagram of an exemplary ultrasound probeimaging an anatomical region in an image guidance procedure;

FIG. 3 shows a block diagram of an ultrasound imaging system accordingto a first embodiment;

FIG. 4 shows an exemplary CT data set;

FIG. 5 shows an exemplary 3D-vessel map;

FIG. 6 shows a block diagram of an ultrasound imaging system accordingto a second embodiment;

FIG. 7 shows a block diagram of an ultrasound imaging system accordingto a third embodiment;

FIG. 8 shows a block diagram of an ultrasound imaging system accordingto a fourth embodiment;

FIG. 9 shows a block diagram of an ultrasound imaging system accordingto a fifth embodiment;

FIG. 10 shows a block diagram of an ultrasound imaging system accordingto a sixth embodiment;

FIG. 11 shows one example of a display with an ultrasound image withvessel information;

FIG. 12 shows another example of a display with an ultrasound image withvessel information; and

FIG. 13 shows a block diagram of a method for generating an ultrasoundimage with overlaid vessel information according to an embodiment.

DETAILED DESCRIPTION OF THE INVENTION

FIG. 1 shows a perspective view of an ultrasound imaging system 10according to an example. The system 10 includes a chassis 12 containingmost of the electronic circuitry for the system 10. The chassis 12 maybe mounted on a cart 14, and a display 16 is mounted on the chassis 12.An ultrasound probe 20 may be connected through a cable 22 to one ofconnectors 26 on the chassis 12. The chassis 12 includes a keyboard anduser controls, generally indicated by reference numeral 28, for allowinga doctor or sonographer to operate the ultrasound system 10 and enterinformation about the patient or the type of examination that is beingconducted. At the back of the control panel or user controls 28 is atouchscreen display 18 on which programmable softkeys may be displayedfor supplementing the keyboard and controls 28 in controlling theoperation of the system 10. The chassis 12 generally also includes apointing device such as a trackball that may be used to, for example,manipulate an on-screen pointer. The chassis 12 may also include one ormore buttons (not shown) which may be pressed or clicked aftermanipulating the on-screen pointer. These operations are analogous to amouse being used with a computer. In operation, the imaging probe 20having a transducer array therein is placed against the skin of apatient (not shown) and held stationary to acquire an image of blood ortissue in a 2D or 3D anatomical region beneath the skin. The image ispresented on the display 16, and it may be recorded by a recorder (notshown), which is for example placed on an accessory shelf of thechassis. The system 10 may also record or print a report containing textand images. Data corresponding to the image may also be downloadedthrough a suitable data link, such as the Internet or a local areanetwork.

It will be understood that the ultrasound imaging system 10 of FIG. 1 ismerely illustrative and that any other suitable ultrasound imagingsystem can be used. In one example, the ultrasound imaging system canhave a X6-1 ultrasound transducer/probe or a C5-1 ultrasoundtransducer/probe, which is currently distributed by Philips. In anotherexample, the ultrasound imaging system can additionally have EM positionsensing, such as PercuNav, which is currently distributed by Philips.

FIG. 2 shows a schematic diagram of an exemplary ultrasound probe 20imaging an anatomical region A in an image guidance procedure. Here, theultrasound probe 20 provides an ultrasound receive signal or data duringthe insertion, use or operation of an invasive medical device 11 (e.g.needle, biopsy needle or ablation probe) within the anatomical region Aof the body of the patient. For example, the target T treated ortargeted by the medical invasive device may be a carcinoma to be ablatedin radio frequency ablation (RFA). When performing the image guidanceprocedure, the doctor must be able to visualize the target T in theanatomical region A, the invasive medical device 11 approaching thetarget T, and any vessels 15 surrounding the target T, in particularblood vessels or vasculature. Therefore, imaging of the vessels 15 isimportant for ensuring that no major vessel is punctured during theinsertion and guidance of the invasive medical device 11.

FIG. 3 shows a block diagram of an ultrasound imaging system 10according to a first embodiment. The ultrasound imaging system 10comprises an ultrasound probe 20 having a transducer array 21 configuredto provide an ultrasound receive signal. The transducer array 21 can inparticular be a 2D transducer array. The ultrasound imaging system 10 ofFIG. 1 comprises a beamformer 25 connected to the ultrasound probe 20and its transducer array. The beamformer 25 receives an ultrasoundreceive signal or data from the transducer array 21 and performsbeamforming. In this way many 2D scans or frames that lie one next toone another are acquired which are then sent to a B-mode volumeprocessing unit 30 to form a 3D-volume 31 of data. Thus, in theembodiment shown in FIG. 3, as well as in the following embodiments,electronic scanning of the volume in the anatomical region is used.However, it will be understood that the system could alternatively alsouse mechanically scanning.

As mentioned, the ultrasound imaging system 10 comprises the B-modevolume processing unit 30 configured to generate, using signalprocessing, a B-mode volume 31 based on the ultrasound receive signal ordata received from the beamformer 25. Further, the system 10 comprises aB-mode image processing unit 40 configured to provide a current B-modeimage 41 to be displayed, based on the B-mode volume 31, by imageprocessing. Even though a 3D B-mode volume of data is generated by theB-mode volume processing unit 30, the actual presentation or displayingof data does not necessarily need to be also 3D. For example, for anon-fluid filled structure, in some cases a rendered 3D-image may not bethe most useful way to present the data, and a 2D image or orthogonal2D-image planes through the volume may be easier for the user tointerpret. In particular, the current B-mode image can be a 2D-image,thus a slice of the 3D B-mode volume, or can be an (3D-) image oforthogonal 2D-image planes, e.g. Multi-Planar Reformatted (MPR) whichare an axial, sagittal and coronal planes. Alternatively, the currentB-mode image (to be displayed) can of course also be a 3D-image. In thiscase, a 3D-image 41 of the volume of interest is built out of the3D-volume 31 of data. This provides the most possible information to theuser.

Further, the ultrasound imaging system 10 comprises a memory 50configured to store a previously acquired 3D-vessel map 51. This meansthat a 3D-vessel map 51 of the anatomical region is acquired or createdat the beginning or before an ultrasound image guidance procedure. Sincethe 3D-vessel map is acquired at the beginning of the ultrasound imageguidance procedure, prior to actually inserting the invasive medicaldevice into the patient, time can be taken to acquire the highestpossible quality 3D-vessel map. FIG. 5 shows an example of such a3D-vessel map 51, in this case of a liver. It will be understood thatthe specific vessel map of a liver in FIG. 5 is merely exemplary andthat any other suitable vessel map can be used, for example of anotherorgan, in particular an organ that can be imaged using ultrasound.

The frame rates during the acquisition of the 3D-vessel map 51 may beslow, but since the 3D-vessel map 51 is acquired at the beginning orbefore the ultrasound image guidance procedure, the frame rate duringthe ultrasound image guidance procedure itself, using B-mode imaging asexplained above, is not effected. Thus, since the current or liveacquisition of B-mode images, using the B-mode volume processing unit 30and the B-mode image processing unit 40 as explained above, onlyinvolves B-mode, high or real-time frame rates can be achieved.

The ultrasound imaging system 10 comprises a registration unit 60configured to register the previously acquired 3D-vessel map 51 to theB-mode volume 31. Any suitable method or technique for performing suchregistration can be used. In one specific non-limiting example, aregistration technique as disclosed in “Automatic Non-Linear Mapping ofPre-Procedure CT Volumes to 3D Ultrasound, Wein et al., IEEEInternational Symposium on Biomedical Imaging (ISBI), Rotterdam, 2010”,which is incorporated herein by reference, can be used. In anotherspecific non-limiting example, a registration technique as disclosed in“Three-Dimensional Registration and Fusion of Ultrasound and MRI UsingMajor Vessels as Fiducial Markers, Porter et al., IEEE Trans Med Imaging2001, 20(4), pp. 354-359”, which is incorporated herein by reference,can be used. In a further specific non-limiting example, a registrationtechnique as disclosed in “Vessel-Based Non-Rigid Registration of MR/CTand 3D Ultrasound for Navigation in Liver Surgery, Lange et al.,Computer Aided Surgery, 8:228-240 (2003)”, which is incorporated hereinby reference, can be used.

Furthermore, the registration unit 60 is configured to select a or atleast a portion 61 of the 3D-vessel map corresponding to the currentB-mode image 41. In one example, if the current B-mode image 41 is a2D-image or an image of orthogonal 2D-image planes, as explained above,the portion 61 is a 2D-slice of the 3D-vessel map 51. Thus, if theB-mode volume 31 is sliced to get a 2D B-mode image 41 for display, alsothe 3D-vessel map 51 is sliced in the same way. In an alternativeexample, if the current B-mode image 41 is a 3D-image, the portion is a3-D portion of the 3D-vessel map 51. Thus, if a 3D B-mode image 41 is tobe displayed, the 3D-vessel map 51 is superimposed in the same way. Inanother example, the portion 61 of the 3D-vessel map is the entire3D-vessel map. Thus, in this example, the entire stored 3D-vessel map orinformation is displayed.

Preferably or optionally, the 3D-vessel map is tracked, i.e.continuously updated, as the ultrasound image guidance procedure takesplace. In this case, the registration unit 60 is configured to receiveultrasound transducer position tracking information 52 for selecting theportion 61 of the 3D-vessel map 51 corresponding to the current B-modeimage 41. In other words, the portion 61 is selected using the receivedultrasound transducer position tracking information 52. The ultrasoundtransducer position tracking information 52 indicates and/or tracks theposition of the ultrasound probe 20 having the transducer array 21, oralso called ultrasound transducer. The ultrasound transducer positiontracking information 52 is used to select the portion 61 and/or tocontinuously update the registration. The use of ultrasound transducerposition tracking information will be explained in more detail withreference to the embodiments of FIG. 9 and FIG. 10.

Optionally, the ultrasound system 10 may also comprises an imageprocessing unit 70 configured receive the current B-mode image 41 andthe selected portion 61 of the 3D-vessel map 51 to provide an ultrasoundimage 71 with vessel information, which can then be displayed.

The ultrasound imaging system 10 further comprises a display 16configured to display the ultrasound image 71. The ultrasound image 71is based on the current B-mode image 41 and the selected portion 61. Inthis way the user of the system (e.g. doctor or clinician) can use thedisplayed ultrasound image 71 with vessel information during an imageguidance procedure, as for example explained with reference to FIG. 2.As explained above, the ultrasound image 71 or current B-mode image 41to be displayed can either be a 2D- or 3D-image.

FIG. 11 shows, in form of a schematic diagram, one example of a display16 with an ultrasound image 71 with vessel information. FIG. 12 shows,in form of a picture, another example of a display 16 with an ultrasoundimage 71 with vessel information. In each of the examples of FIG. 11 andFIG. 12, the ultrasound image 71 or current B-mode image 41 is a 2DB-mode image illustrating the target T in the anatomical region ofinterest. In this case, the portion 61 is a 2D-slice of the 3D-vesselmap, as can be seen in FIG. 11 or FIG. 12. The invasive medical device(not shown in FIG. 11 or FIG. 12) may also be visible in the imageduring an image guidance procedure.

In the example of FIG. 11, the ultrasound image 71 is provided byoverlaying the current B-mode image 41 and the selected portion 61 ofthe 3D-vessel map. In this case, the image processing unit 70 isconfigured to overlay or fuse the current B-mode image 41 and theselected portion 61 of the 3D-vessel map 51 to provide the ultrasoundimage 71 with overlaid vessel information, which can then be displayed.Thus, the ultrasound image 71 has overlaid vessel information. In otherwords, the vessel information or portion of the 3D-vessel map 61 isdirectly overlaid onto or incorporated into the ultrasound image. Theultrasound image 71 comprises vessel information, overlaid on the 2DB-mode image 41, in the form of the portion 61 of the 3D-vessel map. Inthis example of FIG. 11, the vessel information or portion 61 isillustrated in form of the outlines of the vessel. However, it will beunderstood that the vessel information can be presented in any othersuitable manner, such as for example a line running along the center ofthe vessel or colorizing the vessel within the boundaries of theoutline.

In the example of FIG. 12, the ultrasound image 71 is provided by havingthe current (or live) B-mode image 41 and the selected portion 61 of the3D-vessel map in a side by side format or representation. In FIG. 12,the current (or live) B-mode image 41 is presented as a first imageportion on the right side of the display 16 and the selected portion 61is presented in a second image portion on the left side of the display16. In this case, the image processing unit 70 is configured to add thecurrent B-mode image 41 and the selected portion 61 of the 3D-vessel map51 next to each other to provide the ultrasound image 71 with vesselinformation, which can then be displayed. The selected portion 61 orvessel information can for example be in a previously acquiredregistered image (e.g. color image). In one example, the selectedportion 61 can be presented or contained in CT data or MR data (see FIG.12), as will be explained in further detail with reference to FIG. 8. Inanother example, the selected portion 61 can be presented or containedin an ultrasound image, as will be explained in further detail withreference to FIG. 6 or FIG. 7. In this example of FIG. 12, the vesselinformation or portion 61 is illustrated in form of a line running alongthe center of the vessel. However, as mentioned above, it will beunderstood that the vessel information can be presented in any othersuitable manner.

It will be understood that the displays shown in FIG. 11 and FIG. 12 arespecific examples, and that the ultrasound image with vessel informationcan be displayed in any other suitable manner. In any case, the doctoror user looking at the display 16 is able to see the vessel informationand the B-mode image 41 which helps to avoid the vessels during theimage guidance procedure. Therefore, on the display 16 a portion of theregistered vessel map that moves with the current or live B-mode image41 can be observed. The fact that it is a previously acquired 3D-vesselmap instead of something acquired live is visible from seeing that thevessels do not pulsate, and just move and rotate with the position ofthe ultrasound probe 20. Optionally, a message could be provided on thedisplay that informs the user that the vessel and flow information isnot live.

Further embodiments will now be explained with reference to FIG. 6 toFIG. 10. As each of the embodiments of FIG. 6 to FIG. 10 is based on thefirst embodiment of FIG. 1, the same explanations as to the embodimentof FIG. 1 also apply to the embodiments of FIG. 6 to FIG. 10.

FIG. 6 shows a block diagram of an ultrasound imaging system accordingto a second embodiment, in which the vessels or vasculature in theanatomical region are identified using a 3D flow imaging technique. Inthe embodiment of FIG. 6, the ultrasound imaging system 10 additionallycomprises a 3D flow processing unit 78 configured to generate 3D flowdata 79 based on the ultrasound receive signal, and a flow imageprocessing unit 80 configured to generate the 3D vessel map 51 based onthe 3D flow data 79. 3D flow data 79 (or also called flow volume) can begenerated in that the transducer array 21 transmits multiple ultrasoundpulses for each line in order to estimate the flow at that line. Then,the acquisition of these lines is swept across the volume. The number ofultrasound pulses may be increased. This increases the sensitivity, butalso reduces the frame rates. For example, the 3D flow processing unit78 can be configured to generate the 3D flow data 79 using a color flowtechnique, a Color Power Angio (CPA) technique or a B-mode flow imagingtechnique. In the case of CPA, the generated flow image or 3D-vessel mapindicates only the magnitude of the flow, and not directionality of theflow. In the case of B-mode flow imaging (also called B-flow), the flowimage is generated using a B-mode pulse subtraction technique. Also, the3D flow processing unit 78 can be configured to generate the 3D flowdata 79 using a Contrast Enhanced Ultrasound technique. This is aparticularly suitable way to improve the visualization of the vessels,especially in technically challenging cases. It will be understood thatin fact any technique for visualizing or reconstructing a 3D flow imagecan be used.

In the embodiment of FIG. 6, the ultrasound imaging system 10 furthercomprises a controller 90 configured to select either the B-mode volumeprocessing unit 30, so that it generates the B-mode volume 31, or the 3Dflow processing unit 78, so that it generates the 3D flow data 79. Inparticular, the controller is configured to first select the 3D flowprocessing unit 78, so that the 3D-vessel map 51 can be acquired beforeor at the beginning of an image guidance procedure, and to thesubsequently select the B-mode volume processing unit, so that B-modeimaging can be used during the image guidance procedure. When thecontroller 90 selects the 3D flow processing unit 78, the 3D flow data79 can be generated in that the transducer array 21 transmits multipleultrasound pulses for each line, and then the acquisition of these linesis swept across the volume. When the controller 90 selects the B-modevolume processing unit 30, the B-mode volume 31 can be generated in thatthe transducer array 21 transmits a single pulse for each line, and thenthe acquisition of these lines is swept across the volume. The selectionperformed by the controller 90 can in particular be achieved based onuser input 89. Thus, the controller 90 can be connected to user controls28 for receiving user input 89, such as for example user controls 28 ofFIG. 1. The controller 90 can then be configured to select the 3D flowprocessing unit 30 when receiving a first user input 89 a from the usercontrols 28 (e.g. when a user hits a “Start” button) and to select theB-mode volume processing unit 30 when receiving a second user input 89 bfrom the user controls 28 (e.g. when the user hits an “Accept” button).Optionally, the flow image or 3D-vessel map 51 may also be displayedalone or separately on a display 16. Therefore, as indicated in FIG. 6,the flow image or 3D-vessel map 51 can be transmitted to the display 16.

Now, for a better understanding, a specific application case of usingthe system 10 will be given. The user places the ultrasound probe 20having the 2D transducer array 21 in the desired scan window thatpermits visualization of the target T and the path of the needle 11.Prior to inserting the needle 11, the user hits a “Start” button on theuser controls 28. This initiates the acquisition of a high-quality colorflow volume data. The user then hits an “Accept” button on the usercontrols if the color flow volume data provides the desired 3D-vesselmap (e.g. displayed on display 16). Upon accepting, the system 10immediately starts acquisition of a B-mode volume at much higher volumerates than with the color 3D flow data or flow volume. Then, some typeof anatomical feature tracking or speckle tracking may be applied toconsecutive B-mode volumes. This provides information about how muchtranslation and rotation is happening from volume to volume. Thistranslation and rotation is applied to the 3D-vessel map based on thecolor 3D flow data or flow volume, so that the 3D-vessel map staysregistered to what the B-mode image is showing. This vessel map isoverlaid onto the current or live B-mode image, for example in adifferent tint. The needle guidance then takes place, either with a2D-slice of the B-mode volume, an image of orthogonal 2D-image planes(e.g. MPRs), or using the 3D rendered view. Regardless of the way theB-mode volume is sliced and presented, the registered 3D vessel map canbe sliced and presented in the same way.

FIG. 7 shows a block diagram of an ultrasound imaging system 10according to a third embodiment, and FIG. 8 shows a block diagram of anultrasound imaging system according to a fourth embodiment. In theseembodiments, instead of using a flow acquisition technique as explainedwith reference to the embodiment of FIG. 6, a 3D vessel segmentationtechnique based on image data is used to generate the 3D vessel map 51.In each of the embodiments of FIG. 7 and FIG. 8, the ultrasound imagingsystem 10 therefore comprises a vessel segmentation unit 95 configuredto create the 3D-vessel map 51 by performing a vessel segmentationtechnique. The vessel segmentation technique may for example be atechnique as disclosed in WO 2006/085254 A1 or U.S. Pat. No. 7,870,189B2, which is incorporated by reference herein. For example, theexemplary vessel map or tree shown in FIG. 4 is based on the vesselsegmentation technique disclosed in WO 2006/085254 A1 or U.S. Pat. No.7,870,189 B2.

In the embodiment of FIG. 7, the vessel segmentation unit is configuredto perform the vessel segmentation technique based on the B-mode volume.In this case the 3D-vessel map is created based on 3D ultrasound data,namely the B-mode volume data that the system needs to acquire anyway.This provides for a particular easy way of creating the 3D-vessel mapwithout the use of any other system or data. The B-mode volume can forexample be conventional 3D ultrasound data or contrast enhanced 3Dultrasound data.

Instead of using 3D ultrasound data, the vessel segmentation unit 95 canbe configured to perform the vessel segmentation technique based on CTdata or MR data 112, as illustrated in the embodiment of FIG. 8. In thisembodiment the vessel segmentation unit 95 is configured to receive theCT or MR data 112 from a separate CT or MR system 110 connected to theultrasound imaging system 10. Thus, in this embodiment the 3D-vessel map51 is created based on CT or MR data 112 received from the separate CTor MR system 110. However, it will be understood that the CT or MR data112 can be received in any other suitable way, for example on a portablestorage medium or by a CT or MR functionality within the ultrasoundimaging system itself. The CT data can for example be conventional CTdata, cone beam CT data, or CT angiography data. The MR data can forexample be conventional MR data or MR Angiography data. The CT or MRdata may also be acquired with or without a contrast agent or contrastagents.

FIG. 4 shows an exemplary CT data set 112, and FIG. 5 shows an exemplary3D-vessel map 51, in particular created from the CT data set 112 of FIG.4 using a vessel segmentation technique. As can be seen in FIG. 5, the3D-vessel map 51 shows the outlines of the vessels, and can also bereferred to as “wire frame”.

FIG. 9 shows a block diagram of an ultrasound imaging system accordingto a fifth embodiment, and FIG. 10 shows a block diagram of anultrasound imaging system according to a sixth embodiment. FIG. 9 andFIG. 10 each shows an embodiment of how the ultrasound transducerposition tracking information 52, as explained with reference to thefirst embodiment of FIG. 3, can be generated. In each of FIG. 9 and FIG.10, the registration unit 60 is configured to receive the ultrasoundtransducer position tracking information 52 for selecting the portion 61of the 3D-vessel map corresponding to the current B-mode image 41, asexplained with reference to the first embodiment of FIG. 3. It will beunderstood that the embodiment of FIG. 9 or FIG. 10, which is focused onthe generation of ultrasound transducer position tracking information,can be combined with any of the embodiments of FIG. 3, FIG. 6, FIG. 7 orFIG. 8.

In the embodiment of FIG. 9, the ultrasound transducer position trackinginformation is generated using an image data based technique, inparticular using feature tracking. Thus, the embodiment of FIG. 9 usesimage-based tracking. In this case the ultrasound transducer positiontracking information 52 is provided based on 3D ultrasound data, namelythe B-mode volume data 31 that the system needs to acquire anyway. Theterm temporally consecutive can refer to B-mode volumes being acquireddirectly following each other or can refer to B-mode volumes beingacquired not directly following each other, thus being spaced apart intime (e.g. only every other or every third volume). In the embodiment ofFIG. 9, the ultrasound imaging system 10 further comprises a processingunit 120 configured to generate the ultrasound transducer positiontracking information 52 based on temporally consecutive B-mode volumes.In the embodiment of FIG. 9, the ultrasound imaging system 10 alsocomprises a memory 118 for storing the B-mode volumes consecutive intime. The B-mode volumes 31 generated by B-mode volume processing unit31 are transmitted one after the other to the memory 118 for storage.The processing unit 120 then receives and processes the temporallyconsecutive B-mode images 119. In particular, the processing unit 120can be configured to perform feature tracking on the temporallyconsecutive B-mode volumes 119 and to generate a translation and/orrotation vector based on the feature tracking. In this case, theultrasound transducer position tracking information 52 is then thetranslation and/or rotation information based on the translation and/orrotation vector. Thus, the translation and/or rotation of features inthe temporally consecutive B-mode volumes 119 is tracked and basedthereon a translation vector or rotation vector is extracted. In thecase of generating the ultrasound transducer position trackinginformation based on consecutive B-mode volumes, as shown in theembodiment of FIG. 9, the B-mode volume processing unit 30 has togenerate the 3D B-mode volumes continuously during the image guidanceprocedure (or scanning of the body with the ultrasound probe). In thisway there is continuously underlying B-mode volume data to generate thetranslation information from. This continuous generation also appliesfor a case where the current B-mode image to be displayed is only a2D-image.

Instead of using feature tracking on temporally consecutive B-modevolumes (i.e. image-based tracking) to figure out how much to translateand/or rotate the 3D-vessel map 51, a position sensor 130 can be used,as indicated in the embodiment of FIG. 10. The embodiment of FIG. 10thus shows a sensor-based tracking approach. As can be seen in FIG. 10,the position sensor 130 is positioned in fixed known position withrespect to the ultrasound probe 20 having the transducer array 21, forexample arranged on or attached to the housing on the probe 20. Theultrasound transducer position tracking information 52 is positioninformation received from the position sensor 130. The position sensor130 can be used to track the orientation and/or positional changes ofthe ultrasound probe 20 or transducer array 21. If the ultrasoundtransducer position tracking information is generated based on aposition sensor, as shown in the embodiment of FIG. 10, the B-modeprocessing unit 30 does not need to generate the 3D B-mode volumescontinuously in a case where the current B-mode image to be displayed isonly a 2D-image. However, if the current B-mode image to be displayed isa 3D-image, the B-mode processing unit 30 has to generate the 3D B-modevolumes continuously.

For example, the position sensor can be an electromagnetic (EM) trackingsensor or a fiber optic tracking sensor. However, it will be understoodthat in general any sensor can be used that provides trackinginformation about the transducer position. Any ultrasound probe having a2D transducer array (e.g. the X6-1 probe) and having an EM trackingsensor is capable of generating a calibrated volume of B-mode and colorflow data.

Now, the corresponding method for providing an ultrasound image withvessel information will be explained with reference to FIG. 13 whichshows a block diagram of such a method according to an embodiment, inparticular corresponding to the first basic embodiment of FIG. 3. In afirst step S1, a 3D-vessel map 51 is acquired. This is in particulardone before or at the beginning of an image guidance procedure. Then, asindicated in step S2, the 3D-vessel map 51 is stored in a memory 50.Next, the method comprises the step of receiving, in step S101, anultrasound receive signal provided by an ultrasound probe 20 having atransducer array 21. Subsequently, in step S102, a B-mode volume 31based on the ultrasound receive signal is generated and, in step S103, acurrent B-mode image 41 based on the B-mode volume 31 is provided. Then,in step S104, the method comprises registering the previously acquired3D-vessel map 51, stored in the memory 50, to the B-mode volume 31.Furthermore, the method comprises selecting, in step S105, a portion 61of the 3D-vessel map 51 corresponding to the current B-mode image 41.Subsequently, in step S106, the method comprises providing theultrasound image 71 based on the current B-mode image 41 and theselected portion 61 of the 3D-vessel map 51. In one specific example,the ultrasound image 71 can be provided by overlaying or fusing thecurrent B-mode image 41 and the selected portion 61, as explained withreference to the example of FIG. 11. In another specific example, theultrasound image 71 can be provided by having the current (or live)B-mode image 41 and the selected portion 61 in a side by side format orrepresentation. Finally, the ultrasound image 71 with vessel informationmay then be displayed on a display 16 in step 107. These steps can forexample be performed in one or more processors (e.g. microprocessors).

In general, it will be understood that the different (processing) unitsdescribed herein can be implemented in any suitable way in hardware orsoftware. Any one or more (processing) units 25, 30, 40, 60, 70, 90, 78,80, 95, 120 as described herein, in particular with respect to any oneof the embodiments of FIG. 3 or FIGS. 6 to 10, can be implemented in oneor more processors (e.g. microprocessors). For example, the B-modevolume processing unit 30, the B-mode image processing unit 40, theregistration unit 60, and optionally the image processing unit 70, canbe implemented in one single or multiple processors. While the inventionhas been illustrated and described in detail in the drawings andforegoing description, such illustration and description are to beconsidered illustrative or exemplary and not restrictive; the inventionis not limited to the disclosed embodiments. Other variations to thedisclosed embodiments can be understood and effected by those skilled inthe art in practicing the claimed invention, from a study of thedrawings, the disclosure, and the appended claims.

In the claims, the word “comprising” does not exclude other elements orsteps, and the indefinite article “a” or “an” does not exclude aplurality. A single element or other unit may fulfill the functions ofseveral items recited in the claims. The mere fact that certain measuresare recited in mutually different dependent claims does not indicatethat a combination of these measures cannot be used to advantage.

A computer program may be stored/distributed on a suitable medium, suchas an optical storage medium or a solid-state medium supplied togetherwith or as part of other hardware, but may also be distributed in otherforms, such as via the Internet or other wired or wirelesstelecommunication systems.

Any reference signs in the claims should not be construed as limitingthe scope.

The invention claimed is:
 1. An ultrasound imaging system comprising: anultrasound probe; a volume processing unit configured to generate anultrasound image volume based on ultrasound receive signals from theultrasound probe; a vessel segmentation unit configured to create a3D-vessel map by performing a vessel segmentation technique; aregistration unit configured to automatically register the 3D-vessel mapto the ultrasound image volume and to select a portion of the 3D-vesselmap corresponding to a current ultrasound image, and wherein theregistration unit is further configured to receive ultrasound transducerposition tracking information and to use the position trackinginformation to select the portion of the 3D-vessel map corresponding tothe current ultrasound image; a display configured to display a liveultrasound image, which is updated in real-time, based on the currentultrasound image and the selected portion of the 3D-vessel map; aprocessing unit configured to generate the ultrasound transducerposition tracking information using feature tracking on temporallyconsecutive ultrasound image volumes, and wherein the ultrasoundtransducer position tracking information comprises translation and/orrotation information; and an image processing unit configured to overlaythe current ultrasound image and the selected portion of the 3D-vesselmap to provide the live ultrasound image.
 2. The ultrasound imagingsystem of claim 1, wherein the current ultrasound image comprises a2D-image or an image of orthogonal 2D-image planes.
 3. The ultrasoundimaging system of claim 1, wherein the portion of the 3D-vessel mapcomprises a 2D-slice of the 3D-vessel map or a 3-D portion of the3D-vessel map.
 4. The ultrasound imaging system of claim 1, wherein thevessel segmentation unit is configured to perform the vesselsegmentation technique based on the ultrasound image volume acquiredwith the ultrasound probe prior to an insertion of an invasive device.5. The ultrasound imaging system of claim 1, wherein the vesselsegmentation unit is configured to perform the vessel segmentationtechnique based on CT data or MR data.
 6. A method of using anultrasound imaging system, the method comprising: generating anultrasound image volume based on ultrasound receive signals from anultrasound probe; creating a 3D-vessel map by performing a vesselsegmentation technique on the ultrasound image volume; automaticallyregistering the 3D-vessel map to the ultrasound image volume andselecting a portion of the 3D-vessel map corresponding to a currentultrasound image, the selecting comprising using position trackinginformation to select the portion of the 3D-vessel map corresponding tothe current ultrasound image; displaying a live ultrasound image, whichis updated in real-time, based on the current ultrasound image and theselected portion of the 3D-vessel map; generating ultrasound transducerposition tracking information using feature tracking on temporallyconsecutive ultrasound image volumes, wherein the ultrasound transducerposition tracking information comprises translation and/or rotationinformation; and overlaying the current ultrasound image and theselected portion of the 3D-vessel map to provide the live ultrasoundimage.
 7. The method of claim 6, wherein the current ultrasound imagecomprises a 2D-image or an image of orthogonal 2D-image planes.
 8. Themethod of claim 6, wherein the portion of the 3D-vessel map comprises a2D-slice of the 3D-vessel map or a 3-D portion of the 3D-vessel map. 9.The method of claim 6, wherein performing the vessel segmentationtechnique is performed prior to an insertion of an invasive device in toa patient.
 10. The method of claim 6, wherein the vessel segmentationtechnique uses CT data or MR data.